Related papers: Differentiable Collision-Free Parametric Corridors
Path planning has long been one of the major research areas in robotics, with PRM and RRT being two of the most effective classes of planners. Though generally very efficient, these sampling-based planners can become computationally…
Massive data analysis calls for distributed algorithms and theories. We design a multi-round distributed algorithm for canonical correlation analysis. We construct principal directions through the convex formulation of canonical correlation…
We develop a class of new kinetic data structures for collision detection between moving convex polytopes; the performance of these structures is sensitive to the separation of the polytopes during their motion. For two convex polygons in…
Connected and automated vehicles provide a new opportunity for highly advanced collision avoidance, in which several cars cooperate to reach an optimal overall outcome, that no single car acting in isolation could achieve. For example, one…
We develop numerical methods for elliptic systems governed by partial segregation constraints, in which three nonnegative components are required to have a vanishing pointwise product throughout the domain. This constraint enforces that at…
We describe a novel approach for computing collision-free \emph{global} trajectories for $p$ agents with specified initial and final configurations, based on an improved version of the alternating direction method of multipliers (ADMM).…
Optimization has been widely used to generate smooth trajectories for motion planning. However, existing trajectory optimization methods show weakness when dealing with large-scale long trajectories. Recent advances in parallel computing…
Automated Guided Vehicles (AGVs) are essential in various industries for their efficiency and adaptability. However, planning trajectories for AGVs in obstacle-dense, unstructured environments presents significant challenges due to the…
Humanoid robots rely on multi-contact planners to navigate a diverse set of environments, including those that are unstructured and highly constrained. To synthesize stable multi-contact plans within a reasonable time frame, most planners…
Trajectory planning in dense, interactive traffic scenarios presents significant challenges for autonomous vehicles, primarily due to the uncertainty of human driver behavior and the non-convex nature of collision avoidance constraints.…
We study the problem of estimating the value function of discrete-time switched systems under arbitrary switching. Unlike the switched LQR problem, where both inputs and mode sequences are optimized, we consider the case where switching is…
A new penalty-free neural network method, PFNN-2, is presented for solving partial differential equations, which is a subsequent improvement of our previously proposed PFNN method [1]. PFNN-2 inherits all advantages of PFNN in handling the…
In this paper, we consider the problem of minimizing a smooth function, given as finite sum of black-box functions, over a convex set. In order to advantageously exploit the structure of the problem, for instance when the terms of the…
We address the Multi-Robot Motion Planning (MRMP) problem of computing collision-free trajectories for multiple robots in shared continuous environments. While existing frameworks effectively decompose MRMP into single-robot subproblems,…
Particle-based methods are a practical tool in computational fluid dynamics, and novel types of methods have been proposed. However, widely developed Lagrangian-type formulations suffer from the nonuniform distribution of particles, which…
This work proposes a new formulation to the long-standing problem of convex decomposition through learning feature fields, enabling the first feed-forward model for open-world convex decomposition. Our method produces high-quality…
In this work we show that the differential kinematics of slider-pusher systems are differentially flat assuming quasi-static behaviour and frictionless contact. Second we demonstrate that the state trajectories are invariant to…
Many scientific and engineering applications feature nonsmooth convex minimization problems over convex sets. In this paper, we address an important instance of this broad class where we assume that the nonsmooth objective is equipped with…
This work presents a generalized boundary integral method for elliptic equations on surfaces, encompassing both boundary value and interface problems. The method is kernel-free, implying that the explicit analytical expression of the kernel…
Electric, intelligent, and network are the most important future development directions of automobiles. Intelligent electric vehicles have shown great potentials to improve traffic mobility and reduce emissions, especially at unsignalized…